Drilling and expanding heading machine and drilling and expanding rock breaking method

Abstract

A drilling and expanding heading machine and a drilling and expanding rock breaking method. The drilling and expansion heading machine comprises a heading machine body (100); forward-backward telescopic devices (200) provided on the heading machine body; angle adjustment devices (300) each arranged on the corresponding forward-backward telescopic device; drilling and expansion devices (400) each provided on the corresponding angle adjustment device; a positioning device (500) used for positioning the position of the heading machine body in a roadway; and a control device (700) connected to the positioning device and capable of controlling the actions of the forward-backward telescopic devices and the angle adjustment devices on the basis of a signal of the positioning device, wherein when the forward-backward telescopic devices are completely extended, the distances from the front ends of the drilling and expansion devices to a working face are less than the distance between the front end of a cutting portion of the heading machine body and the working face. The drilling and expanding heading machine automatically implements punching and expanding by means of the drilling and expanding devices, and then performs a cutting operation, thereby improving the heading efficiency.

Description

Drill and break rock method

[0001] The present application claims priority to the Chinese patent application No. 202411278880.9, filed on September 12, 2024, and entitled "Drill and break rock method", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the technical field of tunneling machines, in particular, to a drill and break rock method. BACKGROUND

[0003] At present, the full-rock heavy cantilever tunneling machine with large cutting power, high cutting efficiency, stable work and good dust removal system represents the development direction of rock tunneling technology in the future; the cantilever tunneling machine and the single anchor rod drilling machine supporting operation line (also known as coal roadway comprehensive mechanized tunneling) have gradually become the most important way in the efficient tunneling way of coal roadway in China.

[0004] However, the hardness of the rock stratum is a non-deterministic value, that is, the hardness of the rock stratum in different regions is not necessarily the same, and the working conditions are very poor. When the hardness f (Proctor hardness coefficient) of the rock stratum is greater than 10, the cantilever tunneling machine not only has extremely low efficiency and increased energy consumption, but also has serious cutting tooth drop and even cannot tunnel. Usually, the tunneling machine needs to be withdrawn to a safe distance and then drilled and blasted to break the rock before tunneling, which not only has low tunneling efficiency, but also has large safety hazards in blasting operation. SUMMARY

[0005] In order to solve the problem that the cantilever tunneling machine in the related technology cannot meet the requirements of high-hardness rock roadway.

[0006] The first aspect of the present application is to provide a drill and break rock method.

[0007] The second aspect of the present application is to provide a drill and break rock method.

[0008] Therefore, according to the first aspect of the present application, a drill and break rock method is provided, which comprises: a tunneling machine body; a front-rear telescopic device arranged on the tunneling machine body; an angle adjusting device arranged on the front-rear telescopic device, the angle adjusting device being movable back and forth along the front-rear direction under the action of the front-rear telescopic device; a drill and break rock device arranged on the angle adjusting device; a positioning device for positioning the position of the tunneling machine body in the roadway; a control device connected with the positioning device and capable of controlling the actions of the front-rear telescopic device and the angle adjusting device according to the signal of the positioning device; wherein the distance between the front end of the drill and break rock device and the working face is less than the distance between the front end of the cutting part of the tunneling machine body and the working face when the front-rear telescopic device is fully extended.

[0009] In practical application, the cutting part is in the bottom state as a ruler, the driving machine is moved to the middle of the roadway and close to the section to realize the first positioning; then, the actual position of the tunneling machine in the roadway is measured through the positioning device, the deviation value is calculated by comparing the position data of the actual position with the position data of the standard position; then, the control device controls the action of the front and rear telescopic devices and the angle adjusting device according to the deviation value, and adjusts the posture of the drilling device, so as to realize the second positioning; finally, the drilling operation is carried out. In this way, the rock stratum is pretreated in advance by the drilling device, which can reduce the difficulty and resistance of subsequent cutting operation, thereby helping to improve the tunneling efficiency and operation quality; further, through the second positioning process, efficient and accurate pretreatment of the rock stratum can be realized, and the influence of uneven treatment on the subsequent operation quality can be avoided, thereby further improving the tunneling efficiency and operation quality.

[0010] In some technical solutions, optionally, the drilling device comprises a drill box, a rock drilling assembly and a splitting assembly; the rock drilling assembly and the splitting assembly are both mounted on the drill box. In this way, through the cooperative work of the rock drilling assembly and the splitting assembly, the rock stratum can be efficiently pretreated to create favorable conditions for subsequent tunneling operation.

[0011] In some technical solutions, optionally, the drill box comprises: a base connected with the angle adjusting device; a drill box body rotationally connected with the base; a swing mechanism connected with the drill box body to drive the drill box body to rotate; wherein the rock drilling assembly and the splitting assembly are both mounted on the drill box body.

[0012] In the above technical solutions, the angle of the drill box body is adjusted through the swing mechanism, so as to adjust the working angle of the rock drilling assembly and the splitting assembly, to ensure the cooperative work between the rock drilling assembly and the splitting assembly, and to ensure that the two can work together at the correct position and angle to realize efficient pretreatment of the rock stratum.

[0013] In some technical solutions, optionally, the drill box further comprises a positioning cone holder; the positioning cone holder is connected with the base, and the drill box body is rotationally connected with the positioning cone holder. In this way, the connection stability of the drill box body can be improved to prevent loose or failure of the connection.

[0014] In some technical solutions, optionally, the drill box further comprises: a positioning seat arranged at the front end of the drill box body; a top extension piece arranged on the positioning seat and movable back and forth in the front and rear directions; a reset piece connected with the top extension piece; a feedback piece connected with the control device for receiving and feeding back the state signal of the top extension piece.

[0015] In the technical scheme, before the drilling operation, the front end of the drill box body is controlled to contact the section, at this time, the top stretching piece is triggered and moves backward, so that the feedback piece feeds the state signal of the top stretching piece to the control device to perform the preset delay operation, so that the positioning seat can be completely punched into the rock mass, three-level positioning is realized, and the high precision and stability of the drilling operation are ensured, and the overall tunneling quality is improved.

[0016] In some technical schemes, optionally, the feedback piece comprises a magnetic ring arranged on the top stretching piece, and a magnetic reed switch arranged on the positioning seat and connected with the control device. The state of the top stretching piece is determined by the detection signal of the magnetic reed switch, which has simple structure and small occupied space, thereby facilitating installation.

[0017] In some technical schemes, optionally, the rock drilling assembly comprises a rock drill, a drill rod and a first feeding mechanism; the first feeding mechanism is arranged on the drill box and comprises a sliding rail arranged on the drill box in the front-rear direction, a connecting seat arranged on the sliding rail and capable of moving along the sliding rail, and a driving unit connected with the connecting seat to drive the connecting seat to move; the rock drill is arranged on the connecting seat; and the drill rod is arranged at the front end of the rock drill.

[0018] In some technical schemes, optionally, the first feeding mechanism further comprises a displacement detection unit for detecting the moving distance of the connecting seat; so that the rock drill and the drill rod can be fed according to the predetermined depth.

[0019] In some technical schemes, optionally, the first feeding mechanism further comprises an idler wheel mounted on the drill box and a connecting rope having one end connected with the connecting seat and the other end wound around the idler wheel and connected with the driving unit. In this way, even if the driving unit and the connecting seat are limited in space, power transmission can be realized through the idler wheel and the connecting rope, thereby helping to simplify the occupied space of the rock drilling assembly.

[0020] In some technical schemes, optionally, the expansion and cracking assembly comprises an expansion and cracking device and a second feeding mechanism, and the expansion and cracking device is connected with the second feeding mechanism; wherein the second feeding mechanism has the same structure as the first feeding mechanism.

[0021] In some technical schemes, optionally, the positioning device comprises at least four distance measuring sensors for measuring the distances of the tunneling machine body in the front, upper, left and right four directions and the tunnel, so as to determine the position of the tunneling machine body in the tunnel.

[0022] In some technical schemes, optionally, the positioning device further comprises a protective cover which is a closed cavity, the protective cover is provided with through holes in the front, upper, left and right directions, and at least four light transmitting pieces are arranged in the through holes to close the through holes; wherein the distance measuring sensors are arranged in the protective cover and correspond to the light transmitting pieces one by one.

[0023] In the technical solution, the distance measuring sensor is arranged in the inner cavity of the protective cover, and the measuring signal can pass through the light-transmitting member. In this way, the distance measuring sensor can be protected from the influence of the external environment (such as dust, moisture, etc.).

[0024] In some technical solutions, the positioning device further comprises a cleaning member for cleaning the light-transmitting member. By adding the cleaning member to clean the light-transmitting member, dust and other impurities attached to the surface of the light-transmitting member can be removed, thereby ensuring the measurement accuracy and stability of the distance measuring sensor.

[0025] According to a second aspect of the present application, a rock breaking method is provided, which uses the rock breaking and tunneling machine according to any one of the above technical solutions. Thus, the rock breaking method has all the advantages of any one of the above technical solutions, which will not be repeated here.

[0026] The rock breaking method comprises the following steps:

[0027] Taking the state of the cutting part of the tunneling machine at the bottom as a ruler, the tunneling machine is positioned close to the middle of the roadway and close to the section, and the first positioning is completed;

[0028] The actual position of the tunneling machine in the roadway is positioned by the positioning device;

[0029] The deviation value of the position data of the actual position and the position data of the standard position is calculated;

[0030] The action of the angle adjusting device and the front and rear telescopic device is adjusted according to the deviation value, and the second positioning is completed;

[0031] The rock breaking and tunneling device is controlled to feed towards the working face;

[0032] The rock breaking operation is performed.

[0033] In some technical solutions, the rock breaking and tunneling device comprises a drill box, a rock drilling assembly and a tensioning and splitting assembly; the drill box comprises a drill box body, a positioning seat, a top telescopic member, a reset member and a feedback member; the positioning seat is arranged at the front end of the drill box body; the top telescopic member is arranged on the positioning seat and can move back and forth in the front and rear directions; the reset member is connected with the top telescopic member; the feedback member is connected with the control device and is used for receiving and feeding back the state signal of the top telescopic member; wherein, the control of the rock breaking and tunneling device to feed towards the working face specifically comprises:

[0034] The front end of the drill box body is controlled to contact the section, at this time, the top telescopic member is triggered and moves to trigger the feedback member, the feedback member feeds back the state signal of the top telescopic member to the control device, so that the control device performs a preset delay operation, thereby completely driving the positioning seat into the rock mass and realizing the third positioning.

[0035] From the above description, it can be seen that the drilling and expansion tunneling machine and the drilling and expansion rock breaking method provided by the present application have the advantages that the drilling and expansion tunneling machine has compact structure, and can automatically drill and expand the hard rock layer with the rock layer hardness f greater than 10 without greatly increasing the power, create a free surface, and then perform cutting operation, thereby achieving the purposes of improving the tunneling efficiency and realizing the few-person operation in the mine.

[0036] Additional aspects and advantages of the present application will be set forth in part in the following description, will become apparent from the description, or will be learned by practice of the application. BRIEF DESCRIPTION OF DRAWINGS

[0037] The above and / or additional aspects and advantages of the present application will become apparent and be readily appreciated from the description of the embodiments, given in conjunction with the accompanying drawings, in which:

[0038] Fig. 1 shows one of the structural schematic diagrams of the drilling and expansion tunneling machine in the embodiment of the present application;

[0039] Fig. 2 shows another of the structural schematic diagrams of the drilling and expansion tunneling machine in the embodiment of the present application;

[0040] Fig. 3 shows a third of the structural schematic diagrams of the drilling and expansion tunneling machine in the embodiment of the present application;

[0041] Fig. 4 shows a fourth of the structural schematic diagrams of the drilling and expansion tunneling machine in the embodiment of the present application;

[0042] Fig. 5 shows a partial structural schematic diagram of the drilling and expansion tunneling machine in the embodiment of the present application;

[0043] Fig. 6 shows a structural schematic diagram of the drilling and expansion device in the embodiment of the present application;

[0044] Fig. 7 shows a partial structural schematic diagram of the drilling box in the embodiment of the present application;

[0045] Fig. 8 shows a partial structural schematic diagram of the positioning device in the embodiment of the present application;

[0046] Fig. 9 shows a flow chart of the drilling and expansion rock breaking method in the embodiment of the present application;

[0047] Fig. 10 shows a principle diagram of the drilling and expansion rock breaking method in the embodiment of the present application.

[0048] In the figures from Fig. 1 to Fig. 8, the correspondence between the reference signs and the component names is as follows:

[0049] 100 - tunneling machine body; 110 - cutting part; 120 - traveling part; 130 - support plate; 200 - front and rear telescopic device; 210 - lower support guide rail; 220 - lower moving part; 230 - upper support guide rail; 240 - upper moving part; 300 - angle adjusting device; 310 - mounting seat; 320 - slewing mechanism; 400 - drilling device; 410 - drill box; 411 - base; 412 - drill box body; 413 - swing mechanism; 414 - positioning cone holder; 415 - positioning seat; 416 - top extension piece; 417 - reset piece; 418 - feedback piece; 4181 - magnetic ring; 4182 - magnetic reed switch; 420 - rock drilling assembly; 421 - rock drill; 422 - drill rod; 423 - first feeding mechanism; 4231 - slide rail; 4232 - connecting seat; 4233 - driving unit; 4235 - idler; 4236 - connecting rope; 430 - expansion and cracking assembly; 431 - expansion and cracking device; 432 - second feeding mechanism; 500 - positioning device; 510 - distance measuring sensor; 520 - protective cover; 521 - through hole; 530 - light transmission piece; 540 - cleaning piece; 600 - working face; 700 - control device. DETAILED DESCRIPTION

[0050] In order to enable a more complete understanding of the above-mentioned objects, features and advantages of the present application, the present application will be described in further detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0051] In the following description, a large number of specific details are set forth in order to facilitate a thorough understanding of the present application, but the present application can also be implemented in other ways different from those described herein, and therefore the scope of protection of the present application is not limited by the specific embodiments disclosed below.

[0052] The tunneling machine and the rock drilling and breaking method provided by the embodiments of the present application will be described in detail below with reference to specific embodiments and application scenarios.

[0053] Referring to FIGS. 1-5, the present application provides a kind of drilling and tunneling machine, its structure includes: tunneling machine body 100, front and rear telescopic device 200, angle adjusting device 300, drilling device 400, positioning device 500 and control device 700.

[0054] Specifically, the front-rear telescopic device 200 is arranged on the tunneling machine body 100 and can be telescoped in the front-rear direction. The angle adjusting device 300 is arranged on the front-rear telescopic device 200 and can be moved in the front-rear direction under the action of the front-rear telescopic device 200. The drilling device 400 is arranged on the angle adjusting device 300. The positioning device 500 is arranged on the tunneling machine body 100 and is used for positioning the position of the tunneling machine body 100 in the roadway. The control device 700 is connected with the positioning device 500 and can control the front-rear telescopic device 200 and the angle adjusting device 300 to act according to the signal of the positioning device 500, so as to adjust the posture of the drilling device 400.

[0055] In the above embodiment, the drilling device 400 can be moved in the front-rear direction under the action of the front-rear telescopic device 200 along with the angle adjusting device 300, and when the front-rear telescopic device 200 is fully extended, the distance between the front end of the drilling device 400 and the working face 600 is less than the distance between the front end of the cutting part 110 of the tunneling machine body 100 and the working face 600, which means that the drilling device 400 can pre-treat the rock stratum.

[0056] In actual application, the cutting part 110 is taken as a ruler in the bottom state, the tunneling machine is driven to move to the middle of the roadway and close to the section to realize the first-level positioning; then, the actual position of the tunneling machine body 100 in the roadway is measured by the positioning device 500, the deviation value is calculated by comparing the position data of the actual position with the position data of the standard position; then, the control device 700 controls the action of the front-rear telescopic device 200 and the angle adjusting device 300 according to the deviation value to adjust the posture of the drilling device 400, so as to realize the second-level positioning; finally, the drilling operation is performed.

[0057] Exemplarily, the tunneling machine body 100 is a boom-type tunneling machine.

[0058] In the above embodiment, the rock stratum is pre-treated in advance by the drilling device 400, which can reduce the difficulty and resistance of subsequent cutting operation, thereby helping to improve the tunneling efficiency and operation quality; further, through the second-level positioning process, the rock stratum can be efficiently and accurately pre-treated, and the uneven treatment can be avoided to affect the subsequent operation quality, thereby the tunneling efficiency and operation quality can be further improved.

[0059] Referring to FIGS. 3, 5 and 6, in some embodiments, the drilling device 400 comprises a drill box 410, a rock drilling assembly 420 and a wedge assembly 430. The rock drilling assembly 420 and the wedge assembly 430 are both mounted on the drill box 410, the rock drilling assembly 420 is used to drill a hole of a predetermined depth and diameter on the rock stratum, and the wedge assembly 430 is used to insert a wedge 431 into the hole drilled by the rock drilling assembly 420 to wedge the rock stratum. In this way, through the cooperation of the rock drilling assembly 420 and the wedge assembly 430, the rock stratum can be efficiently pretreated, creating favorable conditions for subsequent tunneling operations.

[0060] In the above embodiment, the drill box 410 comprises a base 411, a drill box body 412 and a swing mechanism 413. Specifically, the base 411 is connected with the angle adjusting device 300; the drill box body 412 is rotationally connected with the base 411, wherein the rock drilling assembly 420 and the wedge assembly 430 are both arranged on the drill box body 412; and the swing mechanism 413 is connected with the drill box body 412 to drive the drill box body 412 to rotate. In this way, the angle of the drill box body 412 is adjusted by the swing mechanism 413, so as to adjust the working angle of the rock drilling assembly 420 and the wedge assembly 430, to ensure the cooperation between the rock drilling assembly 420 and the wedge assembly 430, and to ensure that the two can work together at the correct position and angle to achieve efficient pretreatment of the rock stratum.

[0061] In the above embodiment, the drill box 410 further comprises a positioning cone holder 414, which is arranged on the base 411, and the drill box body 412 is rotationally connected with the positioning cone holder 414. In this way, the connection stability of the drill box body 412 can be improved to prevent loosening or failure of the connection.

[0062] Exemplarily, the swing mechanism 413 is a swing oil cylinder.

[0063] Referring to FIGS. 5 and 7, in some embodiments, the drill box 410 further comprises a positioning seat 415, a top extension 416, a reset member 417 and a feedback member 418. The positioning seat 415 is arranged at the front end of the drill box body 412; the top extension 416 is arranged on the positioning seat 415 and can move back and forth in the front-rear direction; the reset member 417 is connected with the top extension 416 to reset the top extension 416; and the feedback member 418 is connected with the control device 700 to receive and feedback the state signal of the top extension 416.

[0064] In the above embodiment, before the drilling operation, the front end of the drill box body 412 is controlled to contact the section, at this time, the top extension piece 416 is triggered and moves backward, thereby triggering the feedback piece 418 to feed the state signal of the top extension piece 416 to the control device 700 to perform the preset delay operation, so that the positioning seat 415 can be completely punched into the rock mass, three-level positioning is realized, and the high precision and stability of the drilling operation are ensured, which helps to improve the overall tunneling quality.

[0065] In the above embodiment, first, the human eye realizes one-level positioning, and then the positioning device 500 compensates the position data deviation value of the actual position and the standard position of the tunneling machine body 100 to the drilling device 400 to realize two-level positioning; subsequently, at a distance of about 50 mm from the working face, the drilling device 400 slows down and slowly feeds forward, at this time, the front end of the drill box body 412 is controlled to contact the section, and the signal of the feedback piece 418 is used as the final execution signal judgment basis to carry out the drilling operation, and three-level positioning is realized, thereby helping to improve the accuracy of the drilling operation.

[0066] In the above embodiment, after the drill box body 412 exits, the reset piece 417 can automatically reset the top extension piece 416 to the original position to ensure that it is in a normal state during the next operation. Exemplarily, the reset piece 417 is a spring.

[0067] In actual application, the positioning seat 415 is internally provided with a cavity; the top extension piece 416 is arranged in the cavity and one end thereof penetrates out of the positioning seat 415, and the reset piece 417 is sleeved on the top extension piece 416. Through the arrangement of the top extension piece 416, the reset piece 417 and the feedback piece 418 in the cavity, these components can be protected, thereby avoiding damage caused by accidents, and further helping to prolong the service life of the overall structure.

[0068] In some embodiments, the feedback piece 418 includes a magnetic ring 4181 and a magnetic reed switch 4182. The magnetic ring 4181 is arranged on the top extension piece 416 and moves synchronously with the top extension piece 416; the magnetic reed switch 4182 is arranged on the positioning seat 415 and connected with the control device 700. In this way, when the top extension piece 416 moves backward, the magnetic ring 4181 moves synchronously with the top extension piece 416 to a position opposite to the magnetic reed switch 4182, so that the magnetic reed switch 4182 is turned on, thereby making the magnetic reed switch 4182 feed the state signal of the top extension piece 416 to the control device 700. In this embodiment, the state of the top extension piece 416 is determined by the detection signal of the magnetic reed switch 4182, which has simple structure and occupies small space, thereby facilitating installation.

[0069] Therefore, in actual application, referring to FIG. 10, the first level positioning is realized by the human eye positioning, the second level positioning is realized by the laser ranging positioning of the positioning device 500, and the third level positioning is realized by the magnetic reed switch 4182 of the drill box 410. The cooperation of the three can help improve the accuracy of the drilling operation.

[0070] Exemplarily, the magnetic reed switch 4182 is a product sold on the market and is explosion-proof certified.

[0071] In some embodiments, the rock drilling assembly 420 includes a rock drill 421, a drill rod 422, and a first feeding mechanism 423. The first feeding mechanism 423 is arranged on the drill box 410 and includes a sliding rail 4231, a connecting seat 4232, and a driving unit 4233. The sliding rail 4231 is arranged on the drill box 410 in the front-rear direction. The connecting seat 4232 is arranged on the sliding rail 4231 and can move along the sliding rail 4231. The driving unit 4233 is connected to the connecting seat 4232 to drive the connecting seat 4232 to move. The rock drill 421 is arranged on the connecting seat 4232, and the drill rod 422 is arranged at the front end of the rock drill 421.

[0072] In actual application, a guide seat that cooperates with the sliding rail 4231 is arranged below the connecting seat 4232, so that the connecting seat 4232 moves more stably.

[0073] In the above embodiments, the first feeding mechanism 423 further includes a displacement detection unit for detecting the movement distance of the connecting seat 4232, so as to ensure that the rock drill 421 and the drill rod 422 can be fed according to the predetermined depth.

[0074] In some embodiments, the displacement detection unit is a displacement sensor and is connected to the driving unit 4233. In this way, the movement distance of the connecting seat 4232 can be accurately obtained by detecting the stroke of the driving unit 4233.

[0075] In some embodiments, the first feeding mechanism 423 further includes an idler 4235 and a connecting rope 4236. One end of the connecting rope 4236 is connected to the connecting seat 4232, and the other end is connected to the driving unit 4233 through the idler 4235. In this way, even if the driving unit 4233 and the connecting seat 4232 are limited in space, power transmission can be realized through the idler 4235 and the connecting rope 4236, so as to help simplify the occupied space of the rock drilling assembly 420.

[0076] In the above embodiments, the connecting rope 4236 is a steel wire rope.

[0077] In some embodiments, the expansion assembly 430 comprises an expander 431 and a second feeding mechanism 432, the second feeding mechanism 432 and the expander 431 are connected to drive the expander 431 to feed to the working face 600. Among them, the second feeding mechanism 432 and the first feeding mechanism 423 are the same structure, and there is no difficulty for those skilled in the art, and here will not be specifically described. It can be understood that in actual application, the second feeding mechanism 432 can also be different from the first feeding mechanism 423, and the second feeding mechanism 432 can be specifically set according to actual needs.

[0078] Referring to FIG. 4, in some embodiments, the front and rear telescopic device 200, the angle adjusting device 300 and the drill expansion device 400 are respectively provided with two sets, and are symmetrically arranged on the support plate 130 above the traveling part 120 of the tunneling machine body 100.

[0079] Referring to FIG. 1, FIG. 2 and FIG. 8, in some embodiments, the positioning device 500 comprises at least four distance measuring sensors 510 for measuring the distance (L6, L5, L4 and L3) of the tunneling machine body 100 in the front, upper, left and right four directions and the tunnel, so as to determine the position of the tunneling machine body 100 in the tunnel. Exemplarily, the distance measuring sensor 510 is a laser distance measuring sensor.

[0080] In actual application, taking the distance from the drill expansion device 400 to the working face 600 as an example, L1 is the distance from the working face 600 to the drill rod 422, L2 is the distance from the drill rod 422 to the positioning device 500; L1a is the distance from the front end of the cutting part 110 to the working face 600, L2a is the distance from the front end of the cutting part 110 to the positioning device 500, L3a is the distance from the drill rod 422 to the front end of the cutting part 110. In this way, L6=L1+L2=L1a+L2a; theoretically, L1a is "0", in fact, it is difficult for the driver to accurately position every time, so we need to calculate the value of L1a, L1a=L6-L2a=L1-L3a. After calculating L1a, assign compensation to the drill expansion device 400 to realize two-level positioning. The rest L3, L4, L5 positioning principle is similar, and will not be described here.

[0081] In the above embodiments, the positioning device 500 further comprises a protective cover 520 and a light-transmitting piece 530. Among them, the protective cover 520 is a closed cavity, and the protective cover 520 is provided with a through hole 521 in the front, upper, left and right four directions. The light-transmitting piece 530 is at least four, and corresponds to the through hole 521 one by one to close the through hole 521. The four distance measuring sensors 510 are arranged in the internal cavity of the protective cover 520, and the measurement signal can pass through the corresponding light-transmitting piece 530. In this way, the distance measuring sensor 510 can be protected from the influence of the external environment (such as dust, moisture, etc.).

[0082] Exemplarily, the light-transmitting member 530 is made of scratch-resistant high-strength glass. The protective cover 520 is made of sheet metal.

[0083] In some embodiments, the positioning device 500 further comprises a cleaning member 540 for cleaning the light-transmitting member 530. In the present embodiment, the light-transmitting member 530 is cleaned by the cleaning member 540, so that dust and other impurities attached to the surface of the light-transmitting member 530 are removed, thereby ensuring the measurement accuracy and stability of the distance measuring sensor 510.

[0084] In the present embodiment, the cleaning member 540 is a high-pressure air nozzle, i.e., cleaning is achieved by spraying high-pressure gas. Specifically, the cleaning member 540 is at least four, arranged on the protective cover 520, and corresponds to the light-transmitting member 530 one by one. It can be understood that the cleaning member 540 can also use mechanical (such as a brush) or fluid (liquid) cleaning methods, or a combination of multiple cleaning methods, and the present embodiment is not limited thereto.

[0085] Referring to FIGS. 4 and 5, in some embodiments, the front-rear telescopic device 200 is a two-stage telescopic structure, comprising a lower support rail 210, a lower moving part 220, an upper support rail 230, and an upper moving part 240. Specifically, the lower support rail 210 is mounted on the tunneling machine body 100, the lower moving part 220 is slidingly mounted on the lower support rail 210, the upper support rail 230 is mounted on the lower moving part 220 and parallel to the lower support rail 210, and the upper moving part 240 is slidingly mounted on the upper support rail 230. In this way, the front-rear telescopic device 200 can be designed to have sufficient length to meet the operation requirements, and at the same time, the front-rear telescopic device 200 can avoid occupying too much installation space.

[0086] In actual application, the front-rear telescopic device 200 can select a one-stage telescopic structure or a multi-stage telescopic structure according to actual needs, and the present embodiment is not limited thereto.

[0087] In some embodiments, the angle adjusting device 300 comprises a mounting seat 310 and a rotary mechanism 320. Specifically, the mounting seat 310 is mounted on the front-rear telescopic device 200, and the rotary mechanism 320 is connected to one end of the mounting seat 310 and the other end of the rotary mechanism 320 is connected to the drilling device 400. In this way, the rotary mechanism 320 drives the drilling device 400 to rotate, thereby achieving angle adjustment of the drilling device 400.

[0088] Exemplarily, the rotary mechanism 320 is a rotary motor.

[0089] In the above embodiment, the angle adjusting device 300 has two (a first angle adjusting device and a second angle adjusting device), wherein the mounting seat 310 of the first angle adjusting device is connected with the rotating mechanism 320 of the second angle adjusting device 300, so that the two angle adjusting devices 300 can work cooperatively, thereby helping to increase the flexibility of the angle adjusting device 300. It can be understood that in actual application, the angle adjusting device 300 can also have three, four, five, etc., and the embodiment is not limited thereto, and the connection mode of the plurality of angle adjusting devices 300 can refer to the connection relationship of the two angle adjusting devices 300, which does not present any difficulty for those skilled in the art, and will not be described in detail here.

[0090] According to a second aspect of the present application, the present application also provides a rock breaking method, which utilizes the rock breaking and tunneling machine provided in any of the above embodiments, so that the rock breaking method has all the beneficial effects of any of the above embodiments, which will not be described here.

[0091] Referring to FIG. 9, specifically, the rock breaking method includes the following steps:

[0092] S102, taking the state of the cutting part of the tunneling machine at the bottom as a ruler, making the tunneling machine close to the middle position of the roadway and close to the section, and completing the first positioning;

[0093] S104, positioning the actual position of the tunneling machine in the roadway by the positioning device;

[0094] S106, calculating the deviation value of the position data of the actual position and the position data of the standard position;

[0095] S108, adjusting the actions of the angle adjusting device and the front and rear telescopic devices according to the deviation value, and completing the second positioning;

[0096] S110, controlling the rock breaking device to feed to the working face;

[0097] S112, performing rock breaking operation.

[0098] In some embodiments, the control of the rock breaking device to feed to the working face specifically includes:

[0099] The front end of the drill box body is controlled to contact the section, at this time, the top stretching piece is triggered and moves to the triggered feedback piece, the feedback piece feeds the state signal of the top stretching piece to the control device, so that the control device performs the preset delay operation, thereby completely punching the positioning seat into the rock mass, and completing the third positioning.

[0100] In the above embodiment, the drilling device is decelerated and slowly fed forward at a distance of about 50 mm from the working face, at this time, the front end of the drilling box body contacts the section, and the drilling operation is carried out through the signal of the feedback element as the final execution signal judgment basis, which is helpful to improve the accuracy of the drilling operation.

[0101] In the description of this specification, the terms "connection", "installation", "fixation" and the like should be understood in a broad sense, for example, "connection" can be fixed connection, can also be detachable connection, or integrally connected; can be directly connected, or indirectly connected through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0102] In the description of this specification, the terms "one embodiment", "some embodiments", "a specific embodiment" and the like mean that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0103] The above is only the preferred embodiment of the present application and is not used to limit the present application. For those skilled in the art, the present application can have various changes and variations. Any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A raise boring machine wherein, The drill-and-blast machine comprises: a machine body; a front-rear telescopic device arranged on the machine body; an angle adjusting device arranged on the front-rear telescopic device, the angle adjusting device being movable back and forth in the front-rear direction under the action of the front-rear telescopic device; a drill-and-blast device arranged on the angle adjusting device; a positioning device for positioning the position of the machine body in the tunnel; a control device connected to the positioning device and capable of controlling the front-rear telescopic device and the angle adjusting device to act according to the signal of the positioning device; wherein the distance between the front end of the drill-and-blast device and the working face is less than the distance between the front end of the cutting part of the machine body and the working face when the front-rear telescopic device is fully extended.

2. The drill rig of claim 1, wherein, The drill-and-blast device comprises a drill box, a rock drilling assembly and a crack expansion assembly; the rock drilling assembly and the crack expansion assembly are both mounted on the drill box.

3. The drill rig of claim 2, wherein, The drill box comprises: a base connected to the angle adjusting device; a drill box body rotationally connected to the base; a swing mechanism connected to the drill box body to drive the drill box body to rotate; wherein the rock drilling assembly and the crack expansion assembly are both mounted on the drill box body.

4. The drill rig of claim 3, wherein, The drill box further comprises a positioning cone holder; the positioning cone holder is connected to the base, and the drill box body is rotationally connected to the positioning cone holder.

5. The drill rig of claim 3, wherein, The drill box further comprises: a positioning seat arranged at the front end of the drill box body; a top extension member arranged on the positioning seat and movable back and forth in the front-rear direction; a reset member connected to the top extension member; a feedback member connected to the control device for receiving and feeding back the state signal of the top extension member.

6. The drill rig of claim 5, wherein, The feedback member comprises: a magnetic ring arranged on the top extension member; a magnetic reed switch arranged on the positioning seat and connected to the control device.

7. The drill rig of claim 2, wherein, The rock drilling assembly comprises: a rock drill, a drill rod and a first feeding mechanism; wherein the first feeding mechanism is arranged on the drill box, and the first feeding mechanism comprises: a slide rail arranged on the drill box in the front-rear direction; a connecting seat arranged on the slide rail and movable along the slide rail; a driving unit connected to the connecting seat to drive the connecting seat to move; the rock drill is arranged on the connecting seat; the drill rod is arranged at the front end of the rock drill.

8. The raise boring machine of claim 7, wherein, The first feeding mechanism further comprises a displacement detection unit for detecting the moving distance of the connecting seat.

9. The raise boring machine of claim 8, wherein, The first feeding mechanism further comprises: an idler wheel mounted on the drill box; a connecting rope having one end connected to the connecting seat and the other end connected to the driving unit through the idler wheel.

10. The raise boring machine of any one of claims 7 to 9, wherein, The crack expansion assembly comprises a crack expander and a second feeding mechanism; the crack expander is connected to the second feeding mechanism; wherein the second feeding mechanism has the same structure as the first feeding mechanism.

11. The drill rig of claim 1, wherein, The positioning device comprises: at least four distance measuring sensors for measuring the distance between the machine body and the tunnel in the front, upper, left and right directions respectively.

12. The raise boring machine of claim 11, wherein, The positioning device further comprises: a protective cover being a closed cavity, the protective cover being provided with through holes in the front, upper, left and right directions respectively; at least four light transmitting members arranged in the through holes to close the through holes. The ranging sensor is arranged in the protective cover and corresponds to the light-transmitting piece one by one.

13. The raise boring machine of claim 12, wherein, The positioning device further comprises a cleaning piece for cleaning the light-transmitting piece.

14. A method of drilling and fracturing rock, wherein, The method for drilling and breaking rock by the drilling and breaking machine according to any one of claims 1 to 13 comprises the following steps: Taking the state of the cutting part of the drilling and breaking machine at the bottom as a ruler, the drilling and breaking machine is positioned near the middle of the tunnel and near the section to complete the first positioning; The actual position of the drilling and breaking machine in the tunnel is positioned by the positioning device; The deviation value of the position data of the actual position and the position data of the standard position is calculated; The action of the angle adjusting device and the front and rear telescopic device is adjusted according to the deviation value to complete the second positioning; The drilling and breaking device is controlled to feed to the working face; The drilling and breaking rock operation is performed.

15. The method of drilling and breaking rock as claimed in claim 14, wherein, The drilling and breaking device comprises a drill box, a rock drilling assembly and a splitting assembly; the drill box comprises a drill box main body, a positioning seat, a top stretching piece, a reset piece and a feedback piece; the positioning seat is arranged at the front end of the drill box main body; the top stretching piece is arranged on the positioning seat and can move back and forth in the front and rear directions; the reset piece is connected with the top stretching piece; the feedback piece is connected with a control device and is used for receiving and feeding back the state signal of the top stretching piece; wherein, the control of the drilling and breaking device to feed to the working face specifically comprises: The front end of the drill box main body is controlled to contact the section, at this time, the top stretching piece is triggered and moves to trigger the feedback piece, the feedback piece feeds back the state signal of the top stretching piece to the control device, so that the control device performs a preset delay operation, thereby completely punching the positioning seat into the rock mass to realize the third positioning.

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